TWI653960B - Cleaning robot - Google Patents

Abstract

A cleaning robot includes: a main body having a suction motor; a moving unit for automatically moving the main body; and a suction module connected to the suction motor and for cleaning the floor; wherein, the front side of the main body The lower part of the is provided with an accommodating part accommodating a part of the suction module, and when the suction module is located in the accommodating part, a part of the suction module is arranged to vertically overlap the main body, and the Another part of the suction module protrudes forward from both sides of the main body, and another part of the suction module protrudes from the front of the main body.

Description

Cleaning robot

The invention relates to a cleaning robot.

In general, a sweeper is a household device that sucks and removes foreign matter on the lower surface. Recently, among such cleaning machines, a cleaning machine having a cleaning operation that is automatically performed is particularly regarded as a cleaning robot. The cleaning robot is moved by the driving force generated by the operation of the motor receiving the electric power of the battery to suck and remove foreign substances.

Korean Patent Publication No. 10-2006-0038797 (published on May 4, 2006) is a prior art document that discloses a cleaning robot.

The cleaning robot includes a suction module, which can effectively remove foreign matter collected on the flat ground and the recess when placed on the floor.

However, according to the cleaning robot of the prior art document, since the cleaning robot is placed on the floor and operated, the space other than the floor may not be cleaned.

Moreover, even in the case where the cleaning robot cleans the floor, when the height of a space (from the floor surface) is smaller than the height of the cleaning robot, the cleaning robot may not be able to move to the space, thus limiting the cleaning area.

An object of the present invention is to provide a cleaning robot that can clean not only the floor but also the space other than the floor.

Furthermore, the object of the present invention is to provide a cleaning robot, which can be based on The user needs to replace the suction module to perform the cleaning operation.

Furthermore, an object of the present invention is to provide a cleaning robot that can perform a cleaning operation even in a space where the main body of the cleaning robot cannot enter.

Furthermore, an object of the present invention is to provide a cleaning robot which can avoid a reduction in the performance of vacuuming when a user performs a cleaning operation manually.

Furthermore, an object of the present invention is to provide a cleaning robot which can be easily moved on the floor when the user manually performs the cleaning operation.

Furthermore, an object of the present invention is to provide a cleaning robot that can automatically follow the user's movement when the user performs a manual cleaning operation.

An embodiment of the present invention provides a cleaning robot including: a main body having a suction motor; a moving unit configured to automatically move the main body; and a suction module configured to interact with the suction The motor is connected and used to clean the floor; wherein, a lower part of the front side of the main body is provided with a receiving part that receives a part of the suction module, and when the suction module is located in the receiving part, the suction module A part of is arranged to vertically overlap the main body, and another part of the suction module protrudes forward from the front of the main body on both sides, and a further part of the suction module protrudes from the front of the main body.

According to the proposed invention, since the suction module protrudes out of the main body when it is installed on the main body, the cleaning operation can be performed in a space where the main body cannot enter.

Furthermore, since the suction module can be replaced according to the needs of the user, the cleaning operation can be effectively performed using a satisfactory suction mode.

Furthermore, since the main body can be connected with another suction module, not only the floor surface can be cleaned, but also other spaces outside the floor can be cleaned.

Furthermore, in the case where the cleaning robot cannot enter the space when cleaning the floor, another suction module connected to the main body may be used to perform the cleaning operation.

Furthermore, when the user manually performs the cleaning operation, the suction channel connected to the suction module for cleaning the floor surface may be blocked, so the suction force can only be supplied to another suction module, thereby preventing Reduce the vacuuming performance.

Furthermore, when the user manually performs the cleaning operation, the connection between the motor and the wheel is released, so the cleaning robot can be moved smoothly.

Furthermore, when the user manually performs the cleaning operation, the cleaning robot can automatically follow the user's movement and move, thereby improving the user's convenience in cleaning.

1, 2‧‧‧ cleaning robot

10‧‧‧Main

102‧‧‧Accommodation Department

112‧‧‧First suction channel

114‧‧‧Public access

118‧‧‧The first locking part

120‧‧‧The second module connection

121‧‧‧Hinges

122‧‧‧Connector

124‧‧‧ First Transmission Department

125‧‧‧Elastic element

126‧‧‧Second locking part

13‧‧‧Controller

130‧‧‧Second suction channel

14‧‧‧ Input

140‧‧‧channel switching unit

144‧‧‧ Switching Department

145‧‧‧shading element

146‧‧‧Second Transmission Department

15‧‧‧Extension

16‧‧‧Installation detection department

160‧‧‧The first module connection

164‧‧‧Connector housing

165‧‧‧rib groove

116‧‧‧Operation part locking groove

17‧‧‧Position Detection Department

20、101‧‧‧First suction module

210‧‧‧Housing

220‧‧‧Main connecting part

221‧‧‧rib

222‧‧‧Operation Department

223‧‧‧Accommodation Department

225‧‧‧rotation axis

226‧‧‧Elastic element

231‧‧‧Drain hole

232‧‧‧Connector

240‧‧‧rotating motor

250‧‧‧Cleaning element

320‧‧‧Second module connection

330‧‧‧Opening and closing element

50‧‧‧Mobile unit

510‧‧‧Motor

520‧‧‧clutch

530‧‧‧wheel

60‧‧‧Second suction module

600‧‧‧Rotary rag

610‧‧‧Suction tube (Picture 12)

610‧‧‧roller (Picture 18)

612‧‧‧Suction Department

620‧‧‧Water supply container

630‧‧‧Main body connection

1 is a perspective view of a cleaning robot according to a first embodiment of the present invention; FIG. 2 is a view showing a state in which the first suction module of FIG. 1 is separated; and FIG. 3 is a first pumping according to the first embodiment of the present invention A perspective view of the suction module; FIG. 4 is a partial perspective view of the main body according to the first embodiment of the present invention; FIG. 5 is a plane cross-sectional view taken along line AA of FIG. 4; FIG. 6 is a plane cross-sectional view taken along line BB of FIG. FIG. 8 is a view showing the state of the second module connection part according to the first embodiment of the present invention; FIG. 8 is a view showing the state of the second module connection part of FIG. 7 in the first position of the main body; FIG. 9 is a view showing FIG. View of the channel in the main body in the state where the second module connecting portion is located at the first position of the main body; FIG. 10 is a view showing the state in which the second module connecting portion of FIG. 7 is located at the second position of the main body; FIG. 11 10 is a view showing the channel in the main body in the state where the second module connection part of FIG. 10 is located at the second position of the main body; FIG. 12 is a state showing the state where the second suction module is connected to the second module connection part FIG. 13 is a view showing a second module connection portion according to the second embodiment of the present invention; FIG. 14 is a view showing a state where the second suction module is connected to the second module connection portion of FIG. 13; 15 is a block diagram showing a cleaning robot according to a third embodiment of the present invention; FIG. 16 is a block diagram showing a cleaning robot according to a fourth embodiment of the present invention; FIG. 17 is a block diagram showing a cleaning robot according to a fifth embodiment of the present invention Block diagram; and FIG. 18 is a perspective view showing a cleaning robot according to a sixth embodiment of the present invention.

In the following text, preferred embodiments of the present invention will be described in detail; in these drawings, the same element symbols represent the same elements, even if they are marked in different drawings.

It should be understood that although terms such as first, second, A, B, (a), (b) will be used Various elements are described, but these elements should not be limited by these terms, which are only used to distinguish different elements. It should be understood that when an element is considered to be “connected” or “coupled” to another element, the element can be directly connected or coupled to the other element or there may be intervening elements. In contrast, when an element is considered to be "directly connected" or "directly coupled" to another element, there are no intervening elements.

1 is a perspective view of a cleaning robot according to a first embodiment of the present invention; and FIG. 2 is a view showing a state where the first suction module in FIG. 1 is separated.

As shown in FIGS. 1 and 2, the cleaning robot 1 according to the first embodiment of the present invention may include a main body 10 having a suction motor (not shown) for generating suction force.

The cleaning machine 1 may further include a first suction module 20 connected to the main body 10 for cleaning the floor.

The first suction group 20 may be detachably connected to the main body 10; a first module connection portion 160 connected to the first suction module 20 may be provided on the main body 10.

The first module connecting portion 160 may protrude forward from the front surface of the main body 10. Alternatively, the first module connecting portion 160 may be recessed backward into the front surface of the main body 10.

The horizontal width of the first module connecting portion 160 is smaller than the first suction module 20.

The main body 10 may include a receiving portion 102 that receives at least a part of the first suction module 20 when the first suction module 20 is connected to the first module connection portion 160.

The first module connecting portion 160 may be provided on the front side of the main body 10, however, this embodiment is not limited here. Therefore, the first suction module 20 may be provided on the front side of the main body 10.

The accommodating portion 102 may be formed, for example, by recessing a predetermined depth from the front surface of the main body 10 backward to low.

For example, the accommodating portion 102 may be located on a lower side of the first module connecting portion 160.

Therefore, when the first suction module 20 is located in the accommodating portion 102, a part of the first suction module 20 is disposed to vertically overlap the main body 10. For example, a part of the first suction module 20 is provided to vertically overlap the first module connection portion 160 of the main body.

Another part of the first suction module 20 protrudes from both sides of the front of the main body 10; for example, another part of the first suction module 20 may protrude to the left and right of the first module connection portion 160 of the main body 10.

Moreover, other parts of the first suction module 20 protrude from the front of the main body 10. That is That is to say, the other part of the first suction module 20 is located on the front side beyond the first module connection portion 160.

The first suction module 20 may include a housing 210 having an inlet, and a body connecting portion 220 is disposed on one side of the housing 210.

In the case where the body connection portion 220 of the first suction module 20 is connected to the first module connection portion 160, at least a part of the housing 210 may protrude out of the body 10.

Also, at least a part of the inlet of the first suction module 20 may not vertically overlap the main body 10, and another part may be provided to vertically overlap the main body 10.

In other words, at least a part of the inlet of the first suction module 20 may be located in the outer area of the body 10.

When the first module connecting portion 160 protrudes from the main body 10, the main body connecting portion 220 may be connected to the first module connecting portion 160 and surround the first module connecting portion 160. That is, the first module connection portion 160 may be accommodated in the main body connection portion 220.

The main body 10 may further include a first suction channel 112 through which air and dust sucked from the first suction module 20 are drained.

The first suction channel 112 may communicate with the suction motor and may extend to the first module connection portion 160.

The height of the housing 210 from the floor is lower than the height of the main body 10.

Therefore, when the cleaning robot is cleaning the floor, the housing 210 of the first suction module 20 can be moved to a space with a height lower than that of the main body 10 of the cleaning robot, so the area that the cleaning robot can clean can be increased.

The first suction module 20 is a module that can clean the floor. Since the first suction module 20 can be separated from the main body 10, a suction module different from the first suction module 20 can be coupled to the first module connection portion 160.

The main body 10 may be provided with an extension portion 15 to prevent obstacles from being inserted into the space between the main body 10 and the first suction module 20 located outside the main body 10.

The extension 15 may be located between the rear surface of the first suction module 20 and the outer circumferential surface of the main body 10; however, this embodiment is not limited thereto.

Moreover, when the first suction module 20 is connected to the main body 10, the extension 15 may contact the rear surface of the first suction module 20.

Meanwhile, the cleaning robot 1 may further include a movement for moving the main body 10 Unit 50; and an input section 14 for inputting various commands.

Moreover, although not shown, the main body 10 may further include an obstacle detection sensor to allow the main body 10 to move and avoid the obstacle.

The moving unit 50 may include a wheel and a motor for rotating the wheel, so that the cleaning robot 1 can automatically move. The motor may be directly connected to the wheel, or may be connected to the wheel through a power transmission part.

For example, the mobile unit 50 may include a pair of wheels and a pair of motors for independently driving each pair of wheels.

In the foregoing description, it has been stated that the first suction module 20 is detachably connected to the main body 10. As an alternative, the first suction module 20 may remain fixed to the main body 10.

The main body 10 may further include a filter (not shown) to filter dust in the air sucked by the suction motor; and a dust container (not shown) to store dust separated from the air.

The main body 10 may further include a controller to control the operation of the cleaning machine.

3 is a perspective view of a first suction module according to a first embodiment of the present invention; FIG. 4 is a partial perspective view of a main body according to the first embodiment of the present invention; FIG. 5 is a plan sectional view taken along line AA of FIG. 4; and 6 is a plan cross-sectional view taken along line BB of FIG. 4.

2 to 6, the housing 210 of the first suction module 20 may be translucent, but the embodiment is not limited thereto. A surface of the housing 20 can be selectively opened or closed, and the internal structure of the housing can be maintained through the opened and closed surfaces.

The body connection portion 220 may be located on the upper surface of the housing 210. For example, the body connecting portion 220 may be located in the center of the upper surface of the housing 210.

The width of the body connecting portion 220 is formed to be smaller than the horizontal width of the housing 210.

When the main body connection part 220 is coupled to the first module connection part 160, a pair of first module connection parts 160 may be accommodated in the main body connection part 220. That is to say, the main body connecting portion 220 may include a receiving portion 223 in which a part of the first module connecting portion 160 is received.

The main body connecting portion 220 may include a rib 221 and an operating portion 222 for locking to the housing 210 of the main body 10.

The rib 221 may guide the coupling of the first suction module 20 and the main body 10, and the operation portion 222 may fix the main body connection portion 220 to the first module connection portion 160.

The rib 221 may protrude from the inner surface of the body connection part 220. In order to firmly couple the main body connecting portion 220 and the first module connecting portion 160, the main body connecting portion 220 may protrude a plurality of ribs 221.

The plurality of ribs 221 are provided separately from each other, and when the body connecting portion 220 and the first module connecting portion 160 are coupled to each other, a part of the first module connecting portion 160 may be located between the plurality of ribs 221.

When the main body connecting portion 220 and the first module connecting portion 160 are coupled to each other, the rib 221 slides along the rib groove 165 provided on the outer circumferential surface of the first module connecting portion 160.

As shown in the figure, the rib 221 may be formed to extend inward from the uppermost end of the main body connecting portion 220, but the embodiment is not limited thereto. The rib 221 may be located at any position of the main body connecting portion 220 as long as the main body connecting portion 220 can avoid vertical movement and can guide the coupling between the first suction module 20 and the first module connecting portion 160.

Furthermore, this embodiment illustrates that the rib 221 is provided in the main body connection portion 220 and the rib groove 165 is provided in the first module connection portion 160; however, this embodiment is not limited thereto. The rib 221 may be provided in the first module connecting portion 160, and the rib groove 165 may be provided in the main body connecting portion 220.

In this specification, one of the rib 221 and the rib groove 165 can be regarded as a first guide portion, and the other one can be regarded as a second guide portion.

The main body connecting part 220 may be provided with a plurality of operating parts 222, and one side of each operating part 222 may expose the outer circumferential surface of the main body connecting part 220 and may be pressed by the user.

Furthermore, the other side of each operation portion 222 is provided with a protrusion passing through the main body connecting portion 220 and protruding inside the main body connecting portion 220.

Each operating part 222 may include a rotating shaft 225 rotatably fixed to the operating part 222; and an elastic element 226 fixed to the rotating shaft 225 to return the operating part 222 to the original position.

When one side of the operation portion 222 is operated by the user, the operation portion 222 rotates by a predetermined angle and moves to a position deviated from the accommodating portion 223 of the main body connection portion 220. In contrast, when the external force of the user is released from one end of the operation portion 222, the elastic element 226 can return the operation portion 222 to the original position. That is, the protrusion offset from the accommodating portion 223 of the main body connecting portion 220 may protrude to the accommodating portion 223.

When the protruding portion protrudes from the accommodating portion 223 and is accommodated in an operating portion locking groove 166 of the first module connecting portion 160 and the first module connecting portion 160 is accommodated in the accommodating portion 223 of the main body connecting portion 220 At this time, the main body connecting portion 220 and the first module connecting portion 160 may be coupled to each other.

Furthermore, as in the aforementioned embodiment, the operation portion 222 is provided on the main body connection portion 220 and the operation portion locking groove 166 is provided on the first module connection portion 160; however, this embodiment is not limited to this. The operation part 222 may be provided at the first module connection part 160 and the operation part locking groove 166 may be provided at the main body connection part 220.

In this specification, one of the operating portion 222 and the operating portion locking groove 166 may be regarded as a first locking portion, and the other may be regarded as a second locking portion.

The first suction module 20 may further include a discharge hole 231 for discharging air and dust.

When the body connection part 220 is coupled to the first module connection part 160, the discharge hole 231 may communicate with the first suction channel 112; therefore, air and dust discharged through the discharge hole 231 may be introduced into the body 10 through the suction channel 112 internal.

Furthermore, the first suction module 20 may further include a connector 232 electrically connected to a connector accommodating portion 164 of the main body 10.

The first suction module 20 may further include a rotating cleaning element 250 rotating inside the housing 210; the rotating cleaning element 250 may be located at the entrance and may sweep up dust on the floor surface.

The rotary cleaning element 250 may include a cylinder, and a spiral brush may be disposed in the cylinder.

The first suction module 20 may further include a rotation motor 240 for rotating the cleaning element 250.

When the connector 232 is coupled to the connector accommodating portion 164 provided in the first module connecting portion 160, the rotary motor 240 can receive a control signal from the controller of the main body 10 and operate by receiving power from the main body 10.

The illustrated embodiment is that the rotary motor 240 is located on the side of the rotary cleaning element 250; however, the rotary motor 240 may also be located inside the rotary cleaning element 250. When the rotary motor 240 is disposed inside the rotary cleaning element 250, there is no need to provide a separate space for the rotary motor 250, so the rotary cleaning element 250 can extend in the lateral direction.

Furthermore, one of the connector 232 and the connector accommodating portion 164 can be regarded as a first connector, and the other one can be regarded as a second connector.

The rotation speed and rotation direction of the rotation motor 240 may be changed according to the form of the floor surface.

7 is a view showing a second module connection portion according to the first embodiment of the present invention; FIG. 8 is a view showing a state where the second module connection portion of FIG. 7 is located at the first position of the main body; and FIG. 9 is a display 7 is a view of the channel in the main body in a state where the second module connection portion is located at the first position of the main body.

10 is a view showing a state where the second module connecting portion of FIG. 7 is located at the second position of the main body; FIG. 11 is a state showing the second module connecting portion of FIG. 10 being located at the second position of the main body. 12 is a view showing a state in which the second suction module is connected to the second module connection portion.

7 to 12, the main body 10 may further include a second module connector 120 for connecting a second suction module 60.

The second module connector 120 can move between a first position and a second position in the main body 10.

At this time, the first position is a position where the second module connecting portion 120 is not connected to the second suction module 60 after being moved, and the second position is the second position after the second module connecting portion 120 is moved Where the suction module 60 can be connected.

The second module connecting portion 120 can be disposed on the main body 10 and can rotate around a hinge 121; however, this embodiment is not limited thereto.

Furthermore, the second module connecting portion 120 may protrude from the outside of the main body 10 in a state moved to the second position.

The body 10 may further include a second suction channel 130; moreover, the body 10 may further include a common channel 114 communicating the first suction channel 112 and the second suction channel 130.

For example, the second suction channel 130 may be formed of a flexible material.

The second module connecting portion 120 may further include a connecting body 122 to connect to the second suction channel 130; the connecting body 122 may be rotatably connected to the main body 10 and may protrude from the outside of the main body 10.

Since the second suction channel 130 is connected to the connection body 122, the second suction channel 130 may also protrude from the outside of the body 10 when the connection body 122 protrudes from the outside of the body 10. In other words, in the present embodiment, the second suction channel 130 can be selectively exposed outside the body 10.

The second suction module 60 may be directly or indirectly connected to the second suction channel 130 protruding outside the main body 10.

The module connecting portion 120 can be manually rotated by the user or can be automatically rotated by driving of a motor.

When the second module connecting portion 120 automatically rotates, an instruction to rotate the second module connecting portion 120 can be input through the input portion 14, and thereby the second module connecting portion 120 can be automatically rotated by the motor . The instruction for returning the second module connecting portion 120 to the original position may also be input through the input portion 14.

Alternatively, when the second module connector 120 rotates and the second suction module 60 is not connected to the second module connector 120 for a predetermined time, the second module connector 120 may automatically return to the original position.

The first locking portion 118 is provided on the main body 10 and the second locking portion 126 for locking the first locking portion 118 is provided on the second module connecting portion 120 so that when the second module connecting portion 120 is manually rotated At this time, the second module connecting portion 120 is fixed to the main body 10 in a state of moving to the first position.

When the first locking portion 118 is fixed to the second locking portion 126 and the second module connecting portion 120 is pushed, the locking member between the first locking portion 118 and the second locking portion 126 may be released ; But this embodiment is not limited to this. Moreover, when the fastener between the first locking portion 118 and the second locking portion 126 is released and the second module connecting portion 120 is pushed, the first locking portion 118 and the second locking portion 126 may Lock tightly.

The main body 10 may further include a channel switching unit 140 to enable any one of the first suction channel 112 and the second suction channel 130 to selectively communicate with the common channel 114.

The channel switching unit 140 may be interlocked with the second module connecting portion 120; however, this embodiment is not limited to this. For example, the channel switching unit 140 may operate by receiving the rotational force of the second module connection portion 120.

The channel switching unit 140 may further include a switching part 144 located in the common channel 114.

The switching part 144 may be rotated within the common channel 114. The switching part 144 may further include a shielding element 145 that can shield one of the first suction channel 112 and the second suction channel 130 when being rotated.

The channel switching unit 140 may further include a connector connected to the second module connecting part 120 A first transmission part 124 and a second transmission part 146 connected to the switching part 144.

The first transmission part 124 may be a rack, which is rotatably connected to the connecting body 122. The second transmission part 146 may be a pinion gear that meshes with the rack.

The channel switching unit 140 may further include an elastic element 125. When the second module connection portion 120 is rotated, the first transmission portion 124 and the second transmission portion 146 are maintained in a connected state by the elastic element 125.

The elastic element 125 may provide a rotation force to the first transmission part 124 so that the first transmission part 124 rotates around a rotation center of the first transmission part 124 in the counterclockwise direction in FIG. 8.

As another example, the channel switching unit 140 may use some pinion gears to transmit the rotational force of the second module connecting portion 120 to the switching portion 144.

Referring to FIGS. 8 and 10, when the second module connecting portion 120 is moved to the first position, the shielding element 145 of the switching portion 144 shields the second suction channel 130. In other words, the shielding element 145 of the switching part 144 shields the communication state of the second suction channel 130 and the common channel 114. In this state, the common channel 114 communicates with the first suction channel 112.

Therefore, the air and dust sucked by the first suction module 20 can pass through the first suction channel 112 and can flow to the common channel 114.

On the other hand, referring to FIGS. 9 and 11, when the second module connecting portion 120 is moved to the second position, the switching portion 144 receives the rotational force of the second module connecting portion 120 and rotates clockwise in the figure The rotation thus causes the shielding element 145 of the switching portion 144 to shield the first suction channel 112. In other words, the shielding element 145 of the switching part 144 blocks the communication between the first suction channel 112 and the common channel 114. In this state, the common channel 114 communicates with the second suction channel 130.

In this state, the user can connect the second suction module 60 and the second module connection portion 120, as shown in FIG.

In order to use the second suction module 60 to smoothly clean the space other than the floor surface, the second suction module 60 may include a suction portion 612 and a suction tube 610, which is made of a flexible The material is formed so that the suction part 612 communicates with the second module connection part 120.

When the second suction module 60 is connected to the second module connection portion 120, the suction force of the suction motor may act on the second suction module 60. Therefore, the air and dust sucked by the second suction module 60 pass through the second suction channel 130 and flow to the common channel 114.

According to the proposed invention, since the second suction module is an additional suction module It can be connected to the main body, so not only the floor surface but also the space outside the floor surface can be cleaned.

Furthermore, even if a space inaccessible by the cleaning robot is encountered during the floor cleaning operation, the additional suction module can be connected to the main body to clean the space.

Furthermore, when the first suction module or the second suction module is used for the cleaning operation, one of the two suction channels is blocked, thus preventing the suction force from being distributed to the two suction channels, And avoid reducing the vacuuming performance.

13 is a view showing a second module connection portion according to the second embodiment of the present invention; and, 14 is a view showing a state where the second suction module is connected to the second module connection portion of FIG. 13.

Referring to FIGS. 13 and 14, the main body 10 of the cleaning robot 2 according to the second embodiment of the present invention may include a second module connecting portion 320 for connecting the second suction module 60.

Furthermore, the main body 10 may further include an opening and closing element 330 for opening and closing the second module connection portion 320.

For example, the opening and closing element 330 may be slidingly or rotationally coupled to the body 10. When the opening and closing element 330 closes the second module connection portion 320, foreign substances can be prevented from being introduced into the second module connection portion 320.

The main body 10 described in the first embodiment may include a channel switching unit; however, the switching portion of the channel switching unit of this embodiment may receive the moving force of the opening and closing element 330.

The opening and closing element 330 may be manually operated by the user, or may be automatically operated by receiving the rotational force of a motor.

In this embodiment, since the second suction module 320 remains fixed to the main body 10, the structure of the second suction module 320 is simplified.

15 is a block diagram showing a cleaning robot according to a third embodiment of the present invention.

The cleaning robot according to the third embodiment of the present invention has the same structure as the first embodiment or the second embodiment. However, this third embodiment differs from the first embodiment or the second embodiment in automatically moving the mobile unit of the cleaning robot.

Therefore, in the following text, only the features of the embodiment will be described.

Referring to FIGS. 1, 12 and 15, the cleaning robot 1 according to the third embodiment of the present invention may include a motor 510 for generating a driving force to automatically move a main body; and a wheel driven to rotate by the motor 510 530.

The cleaning robot 1 may further include a controller 13 for controlling the motor 510; and an input unit 14 for inputting various commands.

Furthermore, the cleaning robot 1 may further include a clutch 520 for interrupting the transmission of the driving force of the motor 510 to the wheels 530.

The input unit 14 can select an automatic cleaning mode or a manual cleaning mode.

The automatic cleaning mode is a mode in which the cleaning robot 1 performs a cleaning operation during automatic movement. In the automatic cleaning mode, air and dust can be sucked through the first suction module 20.

The manual cleaning mode is a mode in which the user performs a manual cleaning operation while the second suction module 60 is connected to the cleaning robot 1.

In the automatic cleaning mode of this embodiment, the controller 13 controls the clutch 520 so that the driving force of the motor 510 is transmitted to the wheels 530. In other words, in the automatic cleaning mode, the clutch 530 connects the motor 510 and the wheel 530.

However, in the manual cleaning mode, the cleaning robot can be moved freely by the user.

In the manual cleaning mode, the controller 13 controls the clutch 520 so that the connection between the motor 510 and the wheel 530 is released, and the cleaning robot can be smoothly moved manually.

In the state where the connection between the motor 510 and the wheel 530 is released, the wheel 530 is in an idling state relative to the motor 510. Therefore, in the state where the motor 510 is stopped, the cleaning machine 1 can be manually moved by the wheels 530 when placed on the floor.

At this time, when the cleaning robot is stopped, the state where the connection between the motor 510 and the wheel 530 is disconnected can be maintained.

16 is a block diagram showing a cleaning robot according to a fourth embodiment of the present invention.

The cleaning robot according to the fourth embodiment of the present invention has the same structure as the first embodiment or the second embodiment. However, this fourth embodiment differs from the first embodiment or the second embodiment in automatically moving the mobile unit of the cleaning robot.

Therefore, in the following text, only the features of the embodiment will be described.

12 and 16, the cleaning robot 1 according to the fourth embodiment of the present invention may include a motor 510 for generating a driving force to automatically move a main body; and a controller 13 for controlling the motor 510.

Furthermore, the cleaning robot may further include an installation detection part 16 for detecting the installation of the second suction module 60.

The controller 13 may control the motor 510 based on whether the installation of the second suction module 60 is detected by the installation detection section 16.

When a command to operate the suction motor is input and the installation detection section 16 detects that the second suction module 60 is not actually installed, the controller 13 can control the motor 510 so that the cleaning robot 1 moves in a predetermined movement form . The predetermined movement pattern may include various patterns such as random and zigzag.

When a command to operate the suction motor is input and the installation detection unit 16 detects that the second suction module 60 is actually installed, the controller 13 can control the motor 510 so that the cleaning robot 1 follows the user's movement And move. In other words, the controller 13 may control the motor 510 so that the cleaning robot 1 moves with the movement of the second suction module 60.

For this purpose, the cleaning robot 1 may further include a position detection portion 17 for detecting the position of the user or the position of the second suction module 60.

The position detection unit 17 may include an ultrasonic transmission unit provided in the second suction module 60 and a plurality of ultrasonic reception units provided in the main body of the cleaning robot 1; however, this embodiment is not limited thereto.

When the main body 10 needs to move toward the ultrasonic transmission section of the determined position, the controller 13 may determine the position of the ultrasonic transmission section based on the ultrasonic wave received by the ultrasonic reception section and operate the motor 510.

For example, when the ultrasonic transmission section is provided in the second suction module 60, the ultrasonic transmission section moves along the second suction module 60 during the cleaning operation using the second suction module 60; in this case , The distance between the ultrasonic transmission part and the main body 10 can be changed.

The movable distance of the second suction module 60 depends on the length of the suction tube 610. When the ultrasonic transmission part is away from the main body 10 of the cleaning robot by a certain distance, the controller 13 may control the motor 510 so that the cleaning robot 1 moves toward the ultrasonic transmission part.

In this embodiment, the structure of the position detection section 17 is not limited and can be understood as various forms.

In another example, the automatic cleaning mode and the manual cleaning mode can be selected by the input unit 14.

In the automatic cleaning mode, the controller 13 may control the motor 510 to move the cleaning robot 1 in a predetermined movement form.

In the manual cleaning mode, the controller 13 may control the motor 510 to cause the cleaning robot 1 to follow the user's movement.

In this case, the installation detection section 16 can be removed from the main body 10.

According to this embodiment, when a user performs a manual cleaning operation using the second suction module, the cleaning robot can automatically follow the user's movement to move, so the user's convenience in cleaning can be improved.

17 is a block diagram showing a cleaning robot according to a fifth embodiment of the present invention.

12 and 17, the cleaning robot 1 according to the fifth embodiment of the present invention may include a motor 510 for automatically moving the cleaning robot; a wheel 530 driven by the motor 510 to rotate; and a motor 510 for controlling the motor的一Controller13.

Furthermore, the cleaning robot may further include a clutch 520, which is used to connect the motor 510 and the wheel 530, or to release the connection between the motor 510 and the wheel 530.

Furthermore, the cleaning robot may further include an installation detection part 16 for detecting the installation of the second suction module 60.

The controller 13 may control the clutch 520 based on whether the installation of the second suction module 60 is detected by the installation detection section 16.

When a command to operate the suction motor is input and the installation detection section 16 detects that the second suction module 60 is not actually installed, the controller 13 may control the clutch 520 so that the motor 510 is connected to the wheel 530.

When a command to operate the suction motor is input and the installation detection section 16 detects that the second suction module 60 is actually installed, the controller 13 may control the clutch 520 to release the connection between the motor 510 and the wheel 530 .

18 is a perspective view showing a cleaning robot according to a sixth embodiment of the present invention.

Referring to FIGS. 1 and 18, the first suction module 101 of this embodiment and the first suction module 20 of the first embodiment may have functional differences, and the suction module 20 of the first embodiment After the main body 10 is separated, the first suction module 101 of this embodiment may be connected to the main body 10.

The first suction module 101 may include a main body connection portion 630; therefore, the first suction module 101 may be independently coupled to the first module connection portion 160.

Therefore, the detailed description of the main body connecting portion 630 is omitted. In the following text, only the characteristic part of the first suction module 101 will be described.

The first suction module 101 of this embodiment may include a rotating rag 600; a roller 610; and a water supply container 620.

The rotating rag 600 is a belt rag with a wide width to clean foreign matter on the floor surface while rotating.

A plurality of rollers 610 may be provided at both ends to support the rotating rag 600 and allow the rotating rag to rotate. A part of the outer circumferential surface of the rotary rag 600 is exposed to the outside of the first suction module 101 to be in contact with the floor surface.

In this embodiment, the area where the rotating cloth 600 contacts the floor surface may be regarded as a cleaning area.

The controller 610 may further include a motor. When a motor is provided, the motor can be controlled by the controller and can rotate the rotary rag 600 supported by the roller 610.

The water supply container 620 is disposed between the plurality of rollers 610 and may include a water inlet part (not shown) and a water outlet part (not shown); the user can supply water through the water inlet part, and a predetermined amount of water Discharge through this water outlet. The water outlet portion is used to discharge a predetermined amount of water to the inner surface of the rotary rag 600, so that the rotary rag 600 is kept in a constant wet state.

In the first suction module 101, for example, a side surface of a casing can be opened or closed, and the rotary rag 600 and the water supply container 620 can be inserted into or extracted from the casing through the opened side surface.

When the rotary rag 600 is dirty and needs to be replaced, or when water supply is required to enter the water supply container 620, the user can open the side surface of the housing, and the rotary rag 600 or the supply water can be replaced to enter the water supply container 620.

According to the first suction module 101 of the present embodiment, since the belt rag can be installed; the rag has a relatively wide area for use; and the water is supplied by the water supply container 620 to make the rag hydrated without drying out, so it can be long Continue cleaning operations in time.

Furthermore, when the roller 610 includes a motor, the rotational force of the motor can be used for wiping, so the cleaning operation can be done more cleanly.

One of the plurality of first suction modules 20 and 101 having different functions from each other may be coupled to and used in the main body 10 of the present invention.

For example, when it is intended to remove dust on the floor surface, the first suction module 20 including a rotating cleaning element 250 may be coupled to and used in the main body 10.

On the other hand, when cleaning the floor surface with a rag, the first suction module 101 including a rotating rag 160 may be coupled to and used in the main body 10.

Therefore, according to the present invention, since the first suction modules 20 and 101 can be replaced according to the condition to be cleaned, they can be used according to the needs of the user or the condition of the floor surface.

The foregoing embodiment illustrates the cleaning robot including the second module connection portion; however, the cleaning robot may include only the first module connection portion.

Although the present invention discloses and illustrates some embodiments, it should be understood that those skilled in the art can understand these embodiments without departing from the principles and spirit of the present invention and the scope defined by the scope of patent application and its equivalent scope Make changes.

Claims (20)

A cleaning robot includes: a main body having a suction motor; a moving unit configured to automatically move the main body; and a suction module configured to connect with the suction motor and clean the floor; wherein , The lower part of the front side of the main body is provided with an accommodating part for accommodating a part of the suction module, and when the suction module is located in the accommodating part, a part of the suction module is arranged perpendicular to the main body And the other part of the suction module protrudes forward from the front of the main body on both sides, and another part of the suction module protrudes from the front of the main body; wherein the main body further includes a module connection part For coupling of another suction module; wherein, the module connecting part is movably connected to the main body, so that the module connecting part moves between a first position and a second position in the main body; And wherein, the module connecting portion protrudes outside the main body at the second position, and the module connecting portion is received in the main body at the first position. The cleaning robot according to item 1 of the patent application scope, wherein the main body includes a first module connection portion, the suction module is detachably mounted on the first module connection portion, and the front of the main body It is the connection part of the first module. The cleaning robot according to item 2 of the patent application scope, wherein the accommodating portion is located below the connecting portion of the first module. The cleaning robot according to item 2 of the patent application scope, wherein the suction module includes a first locking portion, the first locking portion is locked to the connection portion of the first module, and the first mold The group connecting portion includes a second locking portion, the second locking portion is locked to the first locking portion, and the first locking portion is an operating portion operated by a user and a part that houses the operating portion In one of the grooves, and the second locking portion is the other of the operation portion and the groove. The cleaning robot according to item 4 of the patent application scope, wherein the suction module further includes a first guide portion for guiding a locking operation to the connection portion of the first module; and the first A module connection portion further includes a second guide portion for guiding the first guide portion. The cleaning robot according to item 1 of the patent application scope, wherein the suction module includes a housing forming an exterior, and a main body connecting portion, which is provided on the upper side of the housing and connected to the first A module connection portion, and when the body connection portion is coupled to the first module connection portion, the height of the housing is lower than the body. The cleaning robot according to item 6 of the patent application scope, wherein the main body further includes: a common channel that communicates with the suction motor; a first suction channel that communicates with the suction module; and a second suction A suction channel, which communicates with the other suction module; and a channel switching unit, for connecting one of the first suction channel and the second suction channel to the common channel. The cleaning robot according to item 7 of the patent application scope, wherein when the additional suction module is disconnected from the module, the channel switching unit connects the first suction channel to the common channel, and when When the other suction module is connected to the module connection part, the second suction channel is communicated with the common channel. The cleaning robot according to item 8 of the patent application scope, wherein the module connection portion is rotatably connected to the main body, and the channel switching unit is moved by receiving the rotational force of the module connection portion. The cleaning robot according to item 8 of the patent application scope further includes a motor for operating the channel switching unit. The cleaning robot according to item 8 of the patent application scope, wherein the channel switching unit includes: a switching part that rotates in the common channel and shields the first suction channel or the second when rotating A suction channel; and a transmission part for transmitting power to the switching part. The cleaning robot according to item 1 of the patent application scope, wherein the mobile unit further includes: a wheel; a motor for rotating the wheel; and a clutch for connecting the motor and the wheel or releasing the motor and The connection of the wheels. The cleaning robot according to item 12 of the patent application scope further includes a controller for controlling the motor, wherein the controller controls the clutch based on whether the other suction module is installed in the module connection part . The cleaning robot according to item 13 of the patent application scope further includes an installation detection part for detecting whether the additional suction module is installed on the module connection part, wherein, when used to operate the When a command of the suction motor is input and it is detected that the other suction module is not installed, the controller controls the clutch to connect the motor and the wheel; and the command is input when used to operate the suction motor When it is detected that the other suction module is installed, the controller controls the clutch to disconnect the motor from the wheel. The cleaning robot according to item 12 of the patent application scope further includes: an input section for selecting an automatic cleaning mode and a manual cleaning mode as the cleaning mode; and a controller according to the cleaning mode selected by the input section Control the clutch. The cleaning robot according to item 15 of the patent application scope, wherein, when the automatic cleaning mode is selected, the controller controls the clutch to connect the motor and the wheel, and when the manual cleaning mode is selected, controls the clutch to release the motor and the The connection between the wheels. The cleaning robot according to item 1 of the patent application scope further includes: an input section for selecting an automatic cleaning mode and a manual cleaning mode as the cleaning mode; and a controller according to the cleaning mode selected by the input section Controlling the mobile unit; wherein, when the automatic cleaning mode is selected, the controller controls the mobile unit to move the main body in a preset movement form, and when the manual cleaning mode is selected, the controller controls the mobile unit to cause the main body Follow the movement of this additional suction module. The cleaning robot according to item 1 of the patent application scope further includes: an installation detection part for detecting whether the additional suction module is installed; and a controller based on the additional suction module Whether the mobile unit is installed and controlled; wherein, when a command to operate the suction motor is input and it is detected that the other suction module is not installed, the controller controls the mobile unit to cause the main body to A preset movement form to move; and when the command to operate the suction motor is input and the additional suction module is detected, the controller controls the moving unit to cause the main body to follow the additional The suction module moves and moves. A cleaning robot includes: a main body having a suction motor; a moving unit configured to automatically move the main body; and a suction module configured to connect with the suction motor and clean the floor; wherein , The lower part of the front side of the main body is provided with an accommodating part for accommodating a part of the suction module, and when the suction module is located in the accommodating part, a part of the suction module is arranged to be perpendicular to the main body And the other part of the suction module protrudes forward from the front of the main body on both sides, and another part of the suction module protrudes from the front of the main body; wherein, an extension protrudes from the main body and is located In a space between the outer circumferential surface of the main body and the suction module. The cleaning robot according to item 19 of the patent application scope, wherein the outer circumferential surface of the main body includes a circular portion, and the extending portion protrudes from the circular portion of the main body.